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Update breadth_first_search.py (#374)

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This commit is contained in:
yashvarshney003
2020-08-15 08:24:36 +05:30
committed by GitHub
parent 6d29bcd97d
commit 750e8a185e
7 changed files with 85 additions and 17 deletions
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8
PathPlanning/BreadthFirstSearch/breadth_first_search.py
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@@ -33,16 +33,16 @@ class BreadthFirstSearchPlanner:
self.motion = self.get_motion_model()
class Node:
def __init__(self, x, y, cost, pind, parent):
def __init__(self, x, y, cost, parent_index, parent):
self.x = x # index of grid
self.y = y # index of grid
self.cost = cost
self.pind = pind
self.parent_index = parent_index
self.parent = parent
def __str__(self):
return str(self.x) + "," + str(self.y) + "," + str(
self.cost) + "," + str(self.pind)
self.cost) + "," + str(self.parent_index)
def planning(self, sx, sy, gx, gy):
"""
@@ -92,7 +92,7 @@ class BreadthFirstSearchPlanner:
if current.x == ngoal.x and current.y == ngoal.y:
print("Find goal")
ngoal.pind = current.pind
ngoal.parent_index = current.parent_index
ngoal.cost = current.cost
break

8
PathPlanning/DepthFirstSearch/depth_first_search.py
View File

@@ -33,16 +33,16 @@ class DepthFirstSearchPlanner:
self.motion = self.get_motion_model()
class Node:
def __init__(self, x, y, cost, pind, parent):
def __init__(self, x, y, cost, parent_index, parent):
self.x = x # index of grid
self.y = y # index of grid
self.cost = cost
self.pind = pind
self.parent_index = parent_index
self.parent = parent
def __str__(self):
return str(self.x) + "," + str(self.y) + "," + str(
self.cost) + "," + str(self.pind)
self.cost) + "," + str(self.parent_index)
def planning(self, sx, sy, gx, gy):
"""
@@ -88,7 +88,7 @@ class DepthFirstSearchPlanner:
if current.x == ngoal.x and current.y == ngoal.y:
print("Find goal")
ngoal.pind = current.pind
ngoal.parent_index = current.parent_index
ngoal.cost = current.cost
break

16
PathPlanning/Dijkstra/dijkstra.py
View File

@@ -38,15 +38,15 @@ class Dijkstra:
self.motion = self.get_motion_model()
class Node:
def __init__(self, x, y, cost, parent):
def __init__(self, x, y, cost, parent_index):
self.x = x # index of grid
self.y = y # index of grid
self.cost = cost
self.parent = parent # index of previous Node
self.parent_index = parent_index # index of previous Node
def __str__(self):
return str(self.x) + "," + str(self.y) + "," + str(
self.cost) + "," + str(self.parent)
self.cost) + "," + str(self.parent_index)
def planning(self, sx, sy, gx, gy):
"""
@@ -88,7 +88,7 @@ class Dijkstra:
if current.x == goal_node.x and current.y == goal_node.y:
print("Find goal")
goal_node.parent = current.parent
goal_node.parent_index = current.parent_index
goal_node.cost = current.cost
break
@@ -126,12 +126,12 @@ class Dijkstra:
# generate final course
rx, ry = [self.calc_position(goal_node.x, self.min_x)], [
self.calc_position(goal_node.y, self.min_y)]
parent = goal_node.parent
while parent != -1:
n = closed_set[parent]
parent_index = goal_node.parent_index
while parent_index != -1:
n = closed_set[parent_index]
rx.append(self.calc_position(n.x, self.min_x))
ry.append(self.calc_position(n.y, self.min_y))
parent = n.parent
parent_index = n.parent_index
return rx, ry